CN103249896B - Loading system and conveyor - Google Patents

Loading system and conveyor Download PDF

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Publication number
CN103249896B
CN103249896B CN201280002951.1A CN201280002951A CN103249896B CN 103249896 B CN103249896 B CN 103249896B CN 201280002951 A CN201280002951 A CN 201280002951A CN 103249896 B CN103249896 B CN 103249896B
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China
Prior art keywords
useful load
instrumentation
load
residual quantity
loading
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CN201280002951.1A
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CN103249896A (en
Inventor
深栖久孝
谷长祯
糸井隆
上田隆弘
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Komatsu Ltd
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Komatsu Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The present invention is a conveyor or a loading system provided with a conveyor and a loader. The present invention has: a loadage measuring means for measuring the loadage of a load placed on a conveyor, the loadage measuring means being provided to the conveyor; a difference calculation means for calculating the difference between the loadage measured by the loadage measuring means during loading of a load and the loadage measured by the loadage measuring means during travel after the measurement at the time of loading; a memory device for storing difference value data computed by the difference calculation means; a correction means for correcting the loadage measured by the loadage measuring means at the time of loading of the load, on the basis of a correction rule computed on the basis of the difference value data stored in the memory device; and a display means for displaying the corrected loadage corrected by the correction means.

Description

Load System and carrying implement
Technical field
The present invention relates to utilize and pack machine into and to carrying implement, pack Load System and the carrying implement of tote into.
Background technology
As utilization, pack machine into and to carrying implement, pack the Load System of tote into, possessing of having prevents from packing into the mistake that machine crosses loading to carrying implement and loads anti-locking system.The mistake that patent documentation 1 is recorded is loaded in anti-locking system, and carrying implement judges whether useful load reaches setting, and to packing machine transmission into, forbids load based on result of determination.Pack machine into based on forbidding that load forbids the action of working rig.
[formerly technical literature]
[patent documentation]
[patent documentation 1] TOHKEMY 2008-240461 communique
[problem that invention will solve]
The mistake that patent documentation 1 is recorded is loaded anti-locking system at carrying implement and is packed between machine and communicates, and to packing machine transmission into, forbid load from carrying implement, can to packing machine transmission into, forbid load accurately thus, can prevent from loading to crossing of carrying implement.At this, the mistake that patent documentation 1 is recorded is loaded anti-locking system when carrying out the packing into of tote, the situation that exists the useful load of desirable useful load and the actual tote packing into depart from.
Summary of the invention
Therefore, problem of the present invention is to provide a kind of can calculating more accurately to utilize the useful load that packs the tote that machine packs into carrying implement into, and to the operator who packs machine into, notifies Load System and the carrying implement of useful load.
[for solving the means of problem]
Load System of the present invention possesses carrying implement and packs machine into, it is characterized in that having: useful load instrumentation mechanism, and it is located at described carrying implement, to packing the useful load of the tote of described carrying implement into, carries out instrumentation; Residual quantity arithmetical organ, its to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load and instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to the residual quantity of useful load carry out computing; Storage device, the residual quantity Value Data that its storage is calculated by described residual quantity arithmetical organ; Correction mechanism, it is based on according to being stored in the modification rule that the residual quantity Value Data in described storage device is calculated, to when the loading of tote by described useful load instrumentation mechanism instrumentation to useful load revise; Indication mechanism, it shows by the revised correction useful load of described correction mechanism.
At this, preferably, a plurality of residual quantity Value Datas based on being stored in described storage device, residual quantity value is processed, determine modification rule, based on described modification rule, to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load revise.
In addition, preferably, have: carrying pusher side Department of Communication Force, it is located at described carrying implement; Pack pusher side Department of Communication Force into, it packs machine into described in being located at, and communicates with described carrying pusher side Department of Communication Force, described in described indication mechanism is arranged on, packs in the driver's cabin of machine.
In addition, preferably, described correction mechanism packs machine into described in being located at, described carrying pusher side Department of Communication Force by when the loading of described tote by described useful load instrumentation mechanism instrumentation to the information of useful load to the described pusher side Department of Communication Force that packs into, send, described in pack pusher side Department of Communication Force into the information of described useful load exported to described correction mechanism.
In addition, preferably, described residual quantity arithmetical organ and described storage device pack machine into described in being located at, described carrying pusher side Department of Communication Force by when the loading of described tote by described useful load instrumentation mechanism instrumentation to the information of useful load and the instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to useful load to the described pusher side Department of Communication Force that packs into, send.
In addition, preferably, described residual quantity arithmetical organ, described storage device and described correction mechanism are located at described carrying implement, described indication mechanism be arranged on the outside of described carrying implement and described in pack the either party in the driver's cabin of machine into.
In addition, preferably, also have the pressure sensor that the load to acting on the suspension working cylinder of described carrying implement detects, the testing result of described useful load instrumentation mechanism based on described pressure sensor carried out the useful load of the tote that instrumentation packs into described carrying implement.
In addition, preferably, described carrying implement or described in pack machine at least one party there is position detecting mechanism, described residual quantity arithmetical organ carries out each region of the positional information of instrumentation according to the useful load when loading, described residual quantity value is classified, the sorted described residual quantity value of described memory device stores, described correction mechanism is according to each region of the useful load of described tote being carried out to the positional information of instrumentation, determine modification rule, when the loading of described tote, from described storage device, read and the corresponding residual quantity value of the loading area detecting by described position detecting mechanism, to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load revise.
In addition, preferably, described position detecting mechanism is located at described carrying implement, described useful load instrumentation mechanism when the positional information being detected by described position detecting mechanism is predetermined location, the instrumentation of the useful load while travelling described in carrying out.
In addition, preferably, described useful load instrumentation mechanism judges instrumentation opportunity according to the machine performance of described carrying implement, and the useful load when travelling is carried out instrumentation.
In addition, preferably, described indication mechanism shows the corresponding evaluation result of evaluation of carrying out with useful load decision mechanism, and this useful load decision mechanism carries out the evaluation by the revised useful load of described correction mechanism.
Carrying implement of the present invention loads tote, it is characterized in that, has: useful load instrumentation mechanism, the useful load of the tote that its instrumentation packs into; Residual quantity arithmetical organ, its to by described useful load instrumentation mechanism instrumentation to useful load and instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to the residual quantity of useful load carry out computing; Storage device, the residual quantity Value Data that its storage is calculated by described residual quantity arithmetical organ; Correction mechanism, it is based on according to being stored in the modification rule that the residual quantity Value Data in described storage device is calculated, to when the loading of tote by described useful load instrumentation mechanism instrumentation to useful load revise.
In addition, preferably, have output mechanism, this output mechanism output is by the revised correction useful load of described correction mechanism.
In addition, preferably, described output mechanism is the indication mechanism that shows described correction useful load.
In addition, preferably, described output mechanism is the Department of Communication Force to outside output by described correction useful load.
In addition, preferably, described Department of Communication Force is exported described correction useful load to the machine that packs into that tote is loaded.
Accompanying drawing explanation
Fig. 1 schematically shows the summary construction diagram that packs machine and carrying implement into that forms Load System.
Fig. 2 means the key diagram of schematic configuration of each portion of the Load System shown in Fig. 1.
Fig. 3 means the block diagram of the control function of carrying implement sidecar carrier aircraft.
Fig. 4 means the key diagram of an example of the display unit of carrying implement.
Fig. 5 means another routine key diagram of the display unit of carrying implement.
Fig. 6 is the key diagram of an example of the display packing of the display unit shown in key diagram 5.
Fig. 7 means the block diagram of the control function that packs pusher side vehicle-mounted machine into.
Fig. 8 means the key diagram of an example of the display unit that packs machine into.
Fig. 9 means the flow chart of an example of the control action of Load System.
Figure 10 means the flow chart of an example of the control action of Load System.
Figure 11 means the flow chart of an example of the control action of Load System.
Figure 12 means the flow chart of an example of the control action of Load System.
Figure 13 means the flow chart of an example of the control action of Load System.
Figure 14 means the flow chart of an example of the control action of Load System.
The specific embodiment
Below, with reference to accompanying drawing, Load System of the present invention and loader are described.It should be noted that, by following embodiment, do not limit the present invention.And the structural element in following embodiment comprises structural element or the identical in fact structural element that those skilled in the art can and easily replace.
The overall structure > of < Load System
Fig. 1 schematically shows the summary construction diagram that packs machine and carrying implement into that forms Load System.Fig. 2 means the key diagram of schematic configuration of each portion of the Load System shown in Fig. 1.As shown in Figures 1 and 2, Load System 1 has carrying implement 2 and packs machine 4 into.It should be noted that, the Load System 1 shown in Fig. 1 and Fig. 2 shows respectively each carrying implement of one 2 and packs machine 4 into, but number of units does not limit.Load System 1 also can possess the carrying implement 2 of many and pack machine 4 into.
Carrying implement 2 is for example dump truck, can load tote (goods) and travel.This carrying implement 2 has vehicle body 11, dump body 12, wheel 14, suspension working cylinder 16, turn-sensitive device 18, suspension pressure sensor (pressure sensor) 20, clinometer 22, gps antenna 24, the communication equipment 26 that is connected with communication antenna 26a, display unit 28, carrying implement sidecar carrier aircraft 30.It should be noted that, carrying implement 2, except said structure, also has various mechanisms, function that general carrying implement possesses.
Vehicle body 11 is consume fuel and produce power in motor, and in the motor that travels (hereinafter referred to as motor), uses electric power and produce the vehicle of power.Particularly, vehicle body 11 lift-launch motors and generator, motor, carry out mechanical connection by motor and generator, utilizes the power of motor to drive generator to produce electric power, and the electric power of generation is supplied with to motor.Thus, the power being produced by motor transmits to wheel 14, thereby vehicle body 11 can travel.It should be noted that, vehicle body 11 also can only possess motor, by the power of motor is transmitted and can be travelled to wheel 14.Dump body 12 lades, and be configured in the top of vehicle body 11.In this dump body 12, be mounted with the rubble of excavation or rock or soil etc. as goods.It should be noted that, dump body 12 can be made as can dismounting with respect to vehicle body 11.Wheel 14 is formed and is mechanically assemblied in the traveling mechanism of vehicle body 11 by wheel and tire, as described above by rotating from vehicle body 11 transferring power.Wheel 14 becomes the ground plane of being located at ground.Suspension working cylinder 16 is configured between wheel 14 and vehicle body main body 11.The load corresponding with the weight of vehicle body 11 and dump body 12 and load corresponding to the weight with goods while being mounted with goods put on wheel 14 via suspension working cylinder 16.
Turn-sensitive device 18 detects the rotary speed of wheel.Suspension pressure sensor (below sometimes referred to as " the pressure sensor ") load of 20 detection effect on suspension working cylinder 16.While being mounted with tote in dump body 12, suspension working cylinder 16 shrinks corresponding to the useful load of this tote, thereby the pressure of the inner working oil of enclosing raises.Pressure sensor 20 detects the variation of the hydraulic pressure of this working oil, by the detection signal of hydraulic pressure is converted instrumentation useful load to gravimetric value.It should be noted that, pressure sensor 20 is arranged at each suspension working cylinder 16 of carrying implement 2.That is, in the situation that the dump truck shown in Fig. 1 arranges pressure sensor 20 on the suspension working cylinder 16 separately of four wheels 14.In the situation that possess the such carrying implement of the hinged type self-discharging automobile of six wheels 2, be provided with and amount to six pressure sensors.Clinometer 22 detects the inclination of vehicle bodies 11, particularly detects the inclination with respect to vertical.Turn-sensitive device 18, pressure sensor 20, clinometer 22 are exported the value detecting to carrying implement sidecar carrier aircraft 30.It should be noted that, according to the difference of dump truck, have the situation that possesses each wheel 14 in the left and right of front-wheel and possess each two wheels in the left and right of trailing wheel.That is, wheel 14 left and right of trailing wheel amount to and possess four tires.Therefore, in the situation that such dump truck, the number of the suspension working cylinder 16 possessing respectively about the wheel 14 of above-mentioned narration, in the left and right of the wheel 14 of front-wheel, possesses each suspension working cylinder 16, in the left and right of the wheel 14 of trailing wheel, possess each suspension working cylinder 16, result is in such dump truck, to become integral body to possess the structure that amounts to four suspension working cylinders 16.And, the number of the suspension working cylinder 16 during about hinged type self-discharging automobile, be not limited to the situation of six of above-mentioned narration, in the left and right of the wheel of trailing wheel, possess each suspension working cylinder 16 and result in the situation that the integral body of hinged type self-discharging automobile possesses four suspension working cylinders 16 of total, also can be suitable for present embodiment.And, in hinged type self-discharging automobile, also can be that any that vehicle body and dump body are carried out to the supporting construction of mechanical link is made as in four wheels 14 that utilize trailing wheel supports the structure of the total weight of tote, and the weight that a suspension working cylinder 16 and pressure sensor 20 are measured tote is set on the support at this place.In this case, each wheel 14 that does not possess suspension working cylinder 16 does not possess the instrumentation mechanism of the such tote of pressure sensor 20, but becomes underbody (foot the returns り) structure consisting of spring or snubber.
Gps antenna 24 receives from forming the signal of the gps satellite output of GPS (Global Positioning System), comes the position of instrumentation self.Gps antenna 24 receives respectively from the signal of a plurality of gps satellite outputs.Gps antenna 24 is exported the signal receiving to carrying implement sidecar carrier aircraft 30.It should be noted that, the position for instrumentation self, is not limited to gps satellite, also can utilize other location satellite.That is, as long as can carry out (the GLONASS (Global Navigation Satellite System): position instrumentation Global Navigation Satellite Systems) based on GNSS.About following, pack machine 4 into too.
Communication equipment (Department of Communication Force, carrying pusher side Department of Communication Force) 26 via communication antenna 26a at it with pack the transmission reception of carrying out data between machine 4 into.Communication equipment 26 is also connected with carrying implement sidecar carrier aircraft 30.Communication equipment 26 sends via communication antenna 26a the data from 30 outputs of carrying implement sidecar carrier aircraft to packing machine 4 into.And, via communication antenna 26a, receive from packing the data of machine 4 outputs into, and the data that receive are exported to carrying implement sidecar carrier aircraft 30.In addition,, according to the outfit situation of communication infrastructure, communication mode is suitably selected WLAN communication, infrared communication, satellite wave communication or has been used surface wave communication of mobile communication net etc., and possesses corresponding communication equipment etc.
Display unit 28 is arranged on the surface of vehicle body main body 11 as shown in Figure 1.That is, display unit 28 is arranged on from outside position that can visuognosis, is more specifically arranged on when packing machine 4 into and pack tote into, and the operator (operator) who packs machine 4 into is from packing the position that the driver's seat of machine 4 can visuognosis into.The command signal of display unit 28 based on from 30 outputs of carrying implement sidecar carrier aircraft, switches display mode.The structures of display unit 28 etc. are narrated in the back.Carrying implement sidecar carrier aircraft 30 is the controllers such as microcomputer unit.The action of each portion of 30 pairs of carrying implements 2 of carrying implement sidecar carrier aircraft is controlled.About carrying implement sidecar carrier aircraft 30, narration in the back.
Packing machine 4 into is that hydraulic crawler excavator or wheel loader etc. have the machinery that packs the function of tote to carrying implement 2 into.Pack machine 4 into when for crawler hypraulic excavator, there is crawler belt 41, top revolution 42, working rig 44, gps antenna 48, the communication equipment 50 that is connected with communication antenna 50a, display unit 52, pack pusher side vehicle-mounted machine 54 into.It should be noted that, pack machine 4 into except said structure, also possess general various mechanisms, the function that machine possesses that pack into.
Packing machine 4 into is equipped with motor, hydraulic pump, right travel motor, left lateral and sails motor, turning motor, hydraulic working cylinder.And crawler belt 41 arranges in the mode of pair of right and left, becomes lower traveling body.Pair of right and left crawler belt 41 is sailed Motor Drive by right travel motor, left lateral respectively.By motor, drive hydraulic pump to rotate, will to each fluid pressure motor (right travel motor, left lateral are sailed motor), supply with from the working oil of hydraulic pump ejection, drive crawler belt 41 and make to pack into machine 4 and travel.Top revolution 42 comprises possessing the driver's cabin, Machine Room, balance weight etc. of handling seat, and is configured on lower traveling body.Working rig 44 consists of dipper 44a, swing arm 44b and scraper bowl 44c, and is installed on top revolution 42.
And, pack machine 4 into and utilize from the working oil of hydraulic pump ejection and drive turning motor, make thus top revolution 42 circle round in horizontal plane with respect to crawler belt 41, thereby the direction that can make working rig 44 move along direction arbitrarily.Packing machine 4 into utilizes the driving force being produced by motor to drive hydraulic pump to rotate, to the hydraulic working cylinder that dipper 44a uses, swing arm 44b uses, scraper bowl 44c uses, supply with and drive each hydraulic working cylinder flexible the working oil from hydraulic pump ejection, make thus dipper 44a, swing arm 44b and scraper bowl 44c work, carry out the desirable operations such as excavation or soil-shifting.
Gps antenna 48 and gps antenna 24 are same structure, receive respectively from the signal of a plurality of gps satellites outputs, come the position of instrumentation self.Gps antenna 48 is exported the signal receiving to packing pusher side vehicle-mounted machine 54 into.
The communication equipment (Department of Communication Force, pack pusher side Department of Communication Force into) 50 that is connected with communication antenna 50a is same structure with the communication equipment 26 that is connected with communication antenna 26a.Communication equipment 50 carries out data between itself and carrying implement 2 transmission via communication antenna 50a receives.Communication equipment 50 also with pack pusher side vehicle-mounted machine 54 into and be connected.Communication equipment 50 will send to carrying implement 2 via communication antenna 50a from packing the data of pusher side vehicle-mounted machine 54 outputs into.And the communication equipment 50 that packs machine 4 into receives from the data of carrying implement 2 outputs via communication antenna 50a, and the data that receive are exported to packing pusher side vehicle-mounted machine 54 into.Like this, Load System 1 can be used the communication equipment 26 that carrying implement 2 possesses or pack communication equipment 50 that machine 4 possesses etc. into and intercom mutually, thus at carrying implement 2 and pack the transmission that can carry out data between machine 4 into and receive.About the details of data content, narration in the back.
Display unit 52 is configured near the manipulation seat in the driver's cabin of top revolution 42.That is, display unit 52 is configured in the position that can see from carry out the operator of driver behavior to packing machine 4 into.The command signal of display unit 28 based on from 30 outputs of carrying implement sidecar carrier aircraft, switches display mode.The structures of display unit 28 etc. are narrated in the back.Carrying implement sidecar carrier aircraft 30 is the controllers such as microcomputer unit.The action of each portion of 30 pairs of carrying implements 2 of carrying implement sidecar carrier aircraft is controlled.About carrying implement sidecar carrier aircraft 30, narration in the back.
The structure > of < carrying implement sidecar carrier aircraft
Fig. 3 means the block diagram of the control function of carrying implement sidecar carrier aircraft 30.Below, use Fig. 3, carrying implement sidecar carrier aircraft 30 is described.Carrying implement sidecar carrier aircraft 30 has GPS information obtaining section 56, data transmission and reception unit 58, arithmetic unit 60, storage device 62.
The signal of GPS information obtaining section 56 based on being received by gps antenna 24, obtains the current location (location) of carrying implement 2.Particularly, GPS information obtaining section 56 receives the signal of exporting respectively from a plurality of gps satellites, by the plurality of signal is compared, obtains the current location of carrying implement 2.GPS information obtaining section 56 is stored in storage device 62 by the positional information obtaining.
Data transmission and reception unit 58 is connected with communication equipment 26, arithmetic unit 60, storage device 62.Data transmission and reception unit 58 is by the useful load information table 66 of the data write storage device 62 being received by communication equipment 26 or to arithmetic unit 60 outputs.And data transmission and reception unit 58 transmits the data that are stored in the data in the useful load information table 66 of storage device 62 or generated by arithmetic unit 60 to communication equipment 26.
Arithmetic unit 60 uses predefined conditioned disjunction arithmetic expression, and the various detected values or the data that obtain are processed.Arithmetic unit 60 has the pressure sensor value total 60a of mechanism, useful load is calculated the 60b of mechanism, residual quantity value arithmetical organ 60c, useful load correction mechanism 60d.
Pressure sensor value amounts to the 60a of mechanism and calculates the total of the detected value being detected by each pressure sensor 20.At this, pressure sensor value amounts to the detected value that the 60a of mechanism is preferably based on the inclination of the expression vehicle body 11 being detected by clinometer 22, the detected value being detected by each pressure sensor 20 is suitably revised to the row operation of going forward side by side and process, calculate the total of the detected value of pressure sensor 20.When carrying implement 2 is on smooth road surface, the load that acts on each wheel 14 is impartial, but when carrying implement 2 is on the tilted road surfaces such as slope road, the load that acts on each wheel 14 becomes unequal, therefore according to the detected value of clinometer 22, the detected value of each pressure sensor 20 is revised.And pressure sensor value amounts to the 60a of mechanism also can, after calculating according to the detected value being detected by each pressure sensor 20 load that imposes on each suspension working cylinder 16, calculate the total of load.
Useful load is calculated the 60b of mechanism and according to pressure sensor value, is amounted to the testing result of the 60a of mechanism,, according to the result of the detected value of pressure sensor 20, carrys out the useful load of instrumentation tote that is.That is, useful load is calculated the 60b of mechanism the aggregate values of the detected value of each pressure sensor 20 is converted to useful load.
Like this, carrying implement 2 is by pressure sensor 20, the pressure sensor value total 60a of mechanism, useful load are calculated to the 60b of mechanism and combined, and realization is the useful load instrumentation mechanism that useful load is carried out instrumentation to being loaded into the amount of the tote of carrying implement 2.And, arithmetic unit 60 when packing machine 4 into and load the loading of totes to carrying implement 2, instrumentation useful load, and at carrying implement 2 when being mounted with travelling that the state of tote travels, instrumentation useful load, about processing action, narration in the back.That is, arithmetic unit 60 is loading under the state of identical tote by packing machine 4 into, and when loading and while travelling, this chance that amounts to twice is carried out instrumentation useful load.The instrumentation result of the useful load of arithmetic unit 60 when loading useful load instrumentation value and be stored in storage device 62 when loading, and the instrumentation result of the useful load when travelling useful load instrumentation value and be stored in storage device 62 when travelling.At this, arithmetic unit 60 loads result that under the state that stage that totes finish and carrying implement 2 stop, instrumentation the arrives useful load when loading using packing machine 4 into carrying implement 2.Arithmetic unit 60 is also carried out the instrumentation of useful load in the operation that packs machine 4 into and load to carrying implement 2 totes.At this, the speed of carrying implement 2 or the rotary speed of driven wheel of arithmetic unit 60 based on being detected by turn-sensitive device 18, can judge that carrying implement 2 is in transport condition or in halted state.Arithmetic unit 60 is zero or is judged to be in halted state during in minimum speed at the detected value of turn-sensitive device 18, non-vanishing or while being not minimum speed at the detected value of turn-sensitive device 18, is judged to be in transport condition.
Residual quantity value arithmetical organ 60c calculate by pack machine 4 into and load instrumentation under the state of identical tote to loading time the residual quantity of the useful load of useful load when travelling as residual quantity value.Residual quantity value arithmetical organ 60c is stored in storage device 62 by the residual quantity value of calculating.
Useful load correction mechanism 60d, according to being stored in the various data that comprise residual quantity value of storage device 62, calculates modification rule, and the modification rule based on calculating, and to packing operation that machine 4 loads from totes to carrying implement 2 useful load measuring of falling into a trap into, revises.Useful load correction mechanism 60d sends revised useful load to display unit 28, display unit 28 shows revised useful load to pack the mode that the operator of machine 4 can visuognosis into.And useful load correction mechanism 60d also can export revised useful load via communication equipment 26 from data transmission and reception unit 58 to packing machine 4 into.
Various information, the various programs such as storage device 62 store various kinds of data, arithmetic expression.Storage device 62 has useful load information table 66, instrumentation position data 68, suitable useful load data 66d.Useful load instrumentation Value Data 66b, residual quantity Value Data 66c, suitable useful load data 66d when useful load information table 66 has while travelling useful load instrumentation Value Data 66a, loading.While travelling, useful load instrumentation Value Data 66a storage is calculated the instrumentation result of useful load the instrumentation result of useful load of the 60b of mechanism output, while travelling from the useful load of arithmetic unit 60.During loading, useful load instrumentation Value Data 66b storage is calculated the instrumentation result of useful load the instrumentation result of useful load of the 60b of mechanism output, while loading from the useful load of arithmetic unit 60.The data of the residual quantity value that residual quantity Value Data 66c storage is calculated by residual quantity value arithmetical organ 60c.Useful load instrumentation Value Data 66a while travelling, useful load instrumentation Value Data 66b, residual quantity Value Data 66c both can store the result of calculating of recent amount while loading, and also can store repeatedly the result of calculating of amount.Suitably useful load data 66d is the rank equal-specification according to the car of carrying implement 2, to become the definite threshold value of mode of the judge index that is mounted with the useful load that neither can become loading and also can not become too small loading.And storage device 62 also can be based on setting or operator's operation, and delete the result of calculating in the past.
Instrumentation position data 68 is positional informations of the carrying implement 2 obtained by GPS information obtaining section 56.By the instrumentation result of the positional information as instrumentation position data 68 and useful load being set up to storage accordingly, can the instrumentation result of useful load be set up corresponding with the position of having carried out this instrumentation.It should be noted that, instrumentation position data 68 also can be by the pre-stored time of obtaining positional information, and the instrumentation result of useful load and time of having carried out this instrumentation are set up corresponding.
The structure > of the display unit of < carrying implement
Fig. 4 means the key diagram of an example of the display unit 28 of carrying implement 2.Below, use Fig. 4, display unit 28 is described.As shown in Figure 4, display unit 28 possesses three hurdles that show numerical value, can show 3 bit digital.Display unit 28 shows the numerical value (from the numerical value of useful load correction mechanism 60d output) of the revised useful load of being calculated by arithmetic unit 60.At this, the display unit 28 shown in Fig. 4 shows that the numerical value of revised useful load is the situation of 78 tons, shows " 0 " " 7 " " 8 " successively from a left side.Like this, carrying implement 2 is by show the numerical value of revised useful load in display unit 28, and the operator that can pack machine 4 into operation notifies current useful load.At this, illustrated that the display unit 28 shown in Fig. 4 shows the situation of the numerical value of revised useful load, but be not defined in this.Also can be as described later, if carried out, cross and load, make the numerical value flicker of revised useful load or make the demonstration look variable color of this numerical value, or, show represented loading word (for example, the such word of " O " " V " " L " that represents overload), arouse the operator's who packs machine 4 into attention.
Fig. 5 means another routine key diagram of the display unit 28 of carrying implement 2.Fig. 6 is the key diagram of an example of the display packing of the display unit 28a shown in key diagram 5.Display unit 28a shown in Fig. 5 has can switch three lamps 102,104,106 of lighting and extinguishing.At this, the color that three lamps 102,104,106 are lighted is respectively different color.For example, lamp 102 is shown in green when lighting, and lamp 104 is shown as yellow when lighting, and lamp 106 is shown in red when lighting.By such display unit 28a, according to the size of the numerical value of revised useful load, switch lighting, extinguishing of lamp 102,104,106, can notify current useful load to the operator who packs machine 4 into thus.
At this, display unit 28a can notify with four-stage the state of useful load.At this, four-stage for example can be divided into useful load than benchmark (suitably useful load) significantly reduce, useful load is fewer, suitable or more than benchmark than benchmark.Under the state that display unit 28a significantly reduces than benchmark in useful load, as shown in step S1, lamp 102,104,106 is all extinguished.Then, while becoming useful load than the few state of benchmark loading totes to carrying implement 2, as shown in step S2, lamp 102 is glimmered and lamp 104,106 is extinguished.Then, when useful load becomes suitable state when loading tote to carrying implement 2, as shown in step S3, lamp 102 is lighted, made lamp 104 flickers, and lamp 106 is extinguished.Then, when useful load becomes than the many state of benchmark loading totes to carrying implement 2, as shown in step S4, make lamp 102,104 light and make lamp 106 flickers.Like this, can by display unit 28a with represent useful load state display mode rather than directly show that the mode of the numerical value of useful load notifies current useful load to the operator who packs machine 4 into.
< packs the structure > of pusher side vehicle-mounted machine into
Fig. 7 means the block diagram of the control function that packs pusher side vehicle-mounted machine 54 into.Below, use Fig. 7, to packing pusher side vehicle-mounted machine 54 into, describe.Pack pusher side vehicle-mounted machine 54 into and there is GPS information obtaining section 76, data transmission and reception unit 78, arithmetic unit 80, storage device 82.
The signal of GPS information obtaining section 76 based on being received by gps antenna 24, obtains the current location that packs machine 4 into.It should be noted that, the adquisitiones of current location is identical with aforesaid GPS information obtaining section 56.GPS information obtaining section 76 is stored in storage device 82 by the positional information obtaining.
Data transmission and reception unit 78 is connected with communication equipment 50, arithmetic unit 80, storage device 82.Data transmission and reception unit 78 writes to storage device 82 data that received by communication equipment 50 or export to arithmetic unit 80.And data transmission and reception unit 78 sends the data that are stored in data, the program of storage device 82 or generated by arithmetic unit 80 to communication equipment 50 exclusive disjunction devices 80.
Arithmetic unit 80 uses predefined conditioned disjunction arithmetic expression, and the various detected values of obtaining or data are carried out to calculation process described later.Arithmetic unit 80 has residual quantity value arithmetical organ 80a, useful load correction mechanism 80b, useful load decision mechanism 80c, residual quantity value organisation of working 80d.
Residual quantity value arithmetical organ 80a and aforesaid residual quantity value arithmetical organ 60c are same function, calculate by pack machine 4 into and load instrumentation under the state of identical tote to loading time the residual quantity of the useful load of useful load when travelling as residual quantity value.Residual quantity value arithmetical organ 80a is stored in storage device 82 by the residual quantity value of calculating.
Useful load correction mechanism 80b and aforesaid useful load correction mechanism 60d are same function, according to the various data that comprise residual quantity value that are stored in storage device 82, calculate modification rule, and the modification rule based on calculating, to packing operation that machine 4 loads from totes to carrying implement 2 useful load measuring of falling into a trap into, revise.Useful load correction mechanism 80b sends revised useful load to display unit 52.And useful load correction mechanism 80b can export revised useful load via communication equipment 50 from data transmission and reception unit 78 to carrying implement 2.
Useful load decision mechanism 80c judges whether the revised useful load of being calculated by useful load correction mechanism 80b is appropriate value.Useful load decision mechanism 80c is by the revised useful load of being calculated by useful load correction mechanism 80b is compared with the suitable useful load data 82f (or being stored in the suitable useful load data 66d in the storage device of carrying implement 2) that is stored in storage device 82, and can judge whether revised useful load is appropriate value.
Residual quantity value organisation of working 80d processes the residual quantity value of being calculated by residual quantity value arithmetical organ 80a.Particularly, useful load correction mechanism 80b processes the residual quantity value of using as determining the benchmark of modification rule.Read the repeatedly residual quantity value of amount of being calculated by residual quantity value arithmetical organ 80a, using the residual quantity value that repeatedly the residual quantity value of amount and the worthwhile work of residual quantity of equalization are used as determining the benchmark of modification rule.And, also can carry out following processing, that is: read by residual quantity value arithmetical organ 80a, calculated repeatedly amount residual quantity value, carry out the weighting corresponding with obtaining the order of residual quantity value or the size of residual quantity value, from these residual quantity values, the residual quantity value that the worthwhile work of residual quantity that selection weighting is large is used as determining the benchmark of modification rule.
Various information, the various programs such as storage device 82 store various kinds of data, arithmetic expression.Storage device 82 has nearest residual quantity Value Data 82a, cumulative error magnitude data 82b, useful load instrumentation Value Data 82c while travelling, useful load instrumentation Value Data 82d, instrumentation position data 82e while loading, suitable useful load data 82f.The data of the nearest residual quantity value that residual quantity Value Data 82a storage is recently calculated by residual quantity value arithmetical organ 80a.It should be noted that, residual quantity Value Data 82a also can store by the residual quantity value after residual quantity value organisation of working 80d processing recently.The data of the residual quantity value that the cumulative error magnitude data 82b storage past is calculated by residual quantity value arithmetical organ 80a (the repeatedly data of the residual quantity value of amount).Cumulative error magnitude data 82b is being added and is using residual quantity value by residual quantity value organisation of working 80d man-hour.The instrumentation result of useful load instrumentation Value Data 82c storage useful load from the instrumentation result of the useful load of carrying implement 2 outputs, while travelling while travelling.The instrumentation result of useful load in the instrumentation result of the useful load that during loading, useful load instrumentation Value Data 82d storage is exported by carrying implement 2, while loading.And storage device 82 also can be based on setting or operator's operation and delete the result of calculating in the past.And suitably useful load data 82f is different values according to each carrying implement 2.According to the kind or the car size that pack the carrying implement 2 that machine 4 packs into into, pre-stored suitable useful load data 82f.When the design of carrying implement 2, determine to tolerate the suitable useful load by loading the load producing, this suitable useful load is big or small and different according to the kind of carrying implement 2 or car.At this, when packing machine 4 into and load the carrying implement 2 of the object of totes, exist when a plurality of,, when utilizing one to pack machine 4 into and load tote to many carrying implements 2, storage device 82 according to each carrying implement 2 store nearest residual quantity Value Data 82a, cumulative error magnitude data 82b, useful load instrumentation Value Data 82c while travelling, useful load instrumentation Value Data 82d, instrumentation position data 82e while loading, suitable each value of useful load data 82f.
Instrumentation position data 82e is the positional information that packs machine 4 into being obtained by GPS information obtaining section 76, the position that packs tote to carrying implement 2 into.The carrying implement of the instrumentation result of the positional information as instrumentation position data 82e and useful load or object 2 is set up to storage accordingly, thus, can pack the instrumentation result of useful load into machine 4 and carrying implement 2 foundation are corresponding with relevant to this instrumentation result.It should be noted that, instrumentation position data 82e also can pre-storedly obtain the time of positional information, sets up corresponding thus with the instrumentation result of useful load or the carrying implement of object 2.
< packs the structure > of the display unit of machine into
Fig. 8 means the key diagram of an example of the display unit 52 that packs machine 4 into.Below, use Fig. 7 and Fig. 8, display unit 52 is described.As shown in Figure 7, display unit 52 has display control unit 90 and display part 92.90 pairs of images that are presented on display part 92 of display control unit are controlled.Display control unit 90, by by converting picture signal to from the output signals such as data of arithmetic unit 80 or storage device 82 outputs, is presented at the image on display part 92 and generate.
Display part 92 is liquid crystal display, OLED display etc., shows the image being generated by display control unit 90.As shown in Figures 7 and 8, display part 92 has useful load display part 94, alarm display part 96, carrying implement state display part 98.Useful load display part 94 is the picture areas that show the revised useful load of being calculated by useful load correction mechanism 80b.Useful load display part 94 possesses three hurdles that show numerical value, can show 3 bit digital.On useful load display part 94, show the numerical value of the revised useful load of being calculated by arithmetic unit 80.At this, the useful load display part 94 shown in Fig. 8 shows that the numerical value of revised useful load is the situation of 48 tons, shows " 0 " " 4 " " 8 " successively from a left side.Pack machine 4 into by show the numerical value of revised useful load in display unit 52, and the operator that can pack machine 4 into operation notifies current useful load.Warning display part 96 becomes threshold value in current useful load and lights (or flicker) when above, the situation that the situation of loading may occur or occurring to load to operator's notice.This threshold value is to be stored in the suitable useful load packing in the storage device 82 of machine 4 or the storage device 62 of carrying implement 2.Carrying implement state display part 98 shows the state of the carrying implement 2 of the object that loads tote.The state of carrying implement 2 is having or not for the abnormal generation of pressure sensor 20 for example.The abnormal generation information of the pressure sensor 20 of the carrying implement 2 of carrying implement state display part 98 based on receiving via communication equipment 26,50, sense of vision ground shows it is which that abnormal pressure sensor 20 has occurred.For example, display control unit 90 makes loading distribution signal lamp 99 flickering displays corresponding with there is abnormal pressure sensor 20.And the detected value that carrying implement state display part 98 receives from each pressure sensor 20, shows the size of the detected value being detected by each pressure sensor 20 by loading distribution signal lamp 99 as shown in Figure 8 with the color in a plurality of stages.That is, pack the operator of machine 4 into by this loading distribution signal lamp 99 of visuognosis, and whether the tote that can confirm to be encased in dump body 12 loads equably.
The control action > of < Load System
Fig. 9 and Figure 10 mean respectively the flow chart of an example of the control action of Load System.Below, use Fig. 9 and Figure 10, the control action of Load System is described.First use Fig. 9, illustrate as determine modification rule benchmark residual quantity value calculate action.It should be noted that, the processing shown in Fig. 9 can be by any execution of arithmetic unit 60,80, and explanation is situation about processing by arithmetic unit 60 here.
In Load System 1, as step S12, detect by packing the beginning that pack of machine 4 to carrying implement 2 into.It should be noted that, Load System 1 can be packed into machine 4 and the relative position relation of carrying implement 2, the variation of the useful load of carrying implement 2, be packed into the action of machine 4 etc. by judgement, detects by packing the beginning that pack of machine 4 to carrying implement 2 into.That is, the variation of the useful load of carrying implement 2 is variations of the useful load that detects by pressure sensor 20.If Load System 1 detects the increase of useful load and is judged as and packs beginning into.The Rule of judgment that packs beginning into is not defined in this.At this, when packing operation into, carrying implement 2 stops official hour.Load System 1, based on this point, if stopping of carrying implement 2 detected according to the speed of a motor vehicle of calculating according to the testing result of turn-sensitive device 18, can be judged as and pack beginning into.And, pack machine 4 into and carrying implement 2 is obtained positional information by GPS respectively.Load System 1 utilizes positional information, and both intercom mutually, judges that position that mutual positional information represents whether in the distance in regulation, if be judged as in the distance of regulation, be judged as and pack beginning into.Load System 1 can be in above-mentioned any as the Rule of judgment that packs beginning into, also can be using the situation that meets a plurality of conditions as the Rule of judgment that packs beginning into.
Load System 1, after being judged as by step S12 and packing beginning into, as step S14, and is calculated useful load.At this, by pressure sensor 20, the pressure sensor value total 60a of mechanism, useful load, calculate the 60b of mechanism and carry out processing as described above, can calculate useful load thus.It should be noted that, the useful load of calculating in step S14 can be used when to display unit 28 described later, 28a, 52 demonstration.
Load System 1, after having calculated useful load by step S14, as step S16, judges whether pack operation into finishes.Load System 1 detects and packs the actuating signal of machine 4, the actuating signal of carrying implement 2 or such machine performances such as operation signal of being inputted by operator into, based on testing result, judges, can judge thus whether pack operation into finishes.For example, pack the operator of machine 4 into when finishing to pack operation into, ring alarm (loudspeaker) or utilize radio communication to indicate such transmission sound to carrying implement 2, pass on and pack the end of job into, pack the operator of machine 4 into by the action button of operating provision, and send to carrying implement sidecar carrier aircraft 30 signal that is judged to be the declaration of will that packs the end of job into.Or while can the increment rate within the stipulated time of the useful load detecting by pressure sensor 20 being zero, judging and pack the end of job into.Load System 1 packs operation into and does not finish (no) afterwards being judged to be by step S16, returns to step S14.Load System 1, after being judged to be by step S16 and packing end of job (YES) into, as step S18, determines and stores the useful load while loading.The increment rate of Load System 1 within the stipulated time of the useful load detecting by pressure sensor 20 is zero being judged to be while packing the end of job into, can again calculate useful load by step S18, but owing to comparing with nearest value of calculating of calculating by step S14, substantially value does not change, the useful load in the time of therefore can using the nearest value of the calculating conduct of calculating by step S14 to load.According to another determinating reference, judging while packing the end of job into, preferably using the useful load of newly calculating by step S18, the useful load when loading is calculated.And Load System 1 can not calculated useful load by step S14, but after being judged to be by step S16 and packing the end of job into, calculate the useful load while packing into.It should be noted that, because Load System 1 shows the useful load while packing into, therefore as the processing different from the processing of Fig. 9, can be not by step S14, do not calculate the useful load while packing into, this situation is narrated in the back.
After the useful load of Load System 1 when having determined by step S18 to load, as step S20, detect the beginning of travelling, the useful load as step S22 and when travelling is measured and is calculated, determines, stores.That is, after the useful load of Load System 1 when having determined to load, when carrying implement 2 being detected and start to travel, carry out the processing of calculating of useful load, and using the useful load of calculating the useful load when travelling.Carrying implement 2 can detect the beginning of travelling with the whole bag of tricks.For example, carrying implement 2 can be judged to be and start to travel when turn-sensitive device 18 detects the speed of a motor vehicle of regulation, also can detect the shift bar that undertaken by operator or the operation of gas pedal according to the signal of telecommunication, based on this signal of telecommunication, is judged to be and starts to travel.It should be noted that, by step S22, undertaken travel time opportunity of instrumentation of useful load be preferably carrying implement 2 and stablize the moment of travelling.; when carrying implement 2 starts to travel and accelerates; or when to trample brake in order stopping and slowing down, owing to being accompanied by the load of acceleration or deceleration, act on suspension working cylinder 16, so pressure sensor 20 outputs is that actual useful load has been carried out the detected value after plus-minus.And, when turning by steering operation according to the road of travelling, owing to being accompanied by the load of turning, act on each suspension working cylinder 16, so the useful load that remains actual of pressure sensor 20 outputs has been carried out the detected value of plus-minus.Therefore, carrying implement 2 confirms that the detected value of the speed of a motor vehicle based on turn-sensitive device 18 is that constant speed is travelled, or not shown steering angle sensor represents straight-line travelling, or by clinometer 22, be judged as carrying implement 2 and be present in stable condition of travelling such on smooth road, and on condition complete opportunity, useful load when instrumentation travels.It should be noted that, because carrying implement 2 possesses GPS information obtaining section 56, the variation of positional information that therefore can be when having travelled predetermined distance, differentiate and whether carried out straight-line travelling, or noly on smooth road, travel, when the condition of these stable use of travelling meets, use the useful load obtaining when predetermined distance travels, the useful load when calculating and determining to travel.And, the instrumentation opportunity of the useful load in the time of can determining to travel as described below.The information on the road of travelling that storage determines in storage device 62 in advance, then in the information on this road of travelling, identification can be stablized the interval positional information of travelling, when carrying implement 2 travel positional information that the middle GPS of utilization information obtaining section 56 obtains with can stablize the interval identifying information travelling when consistent, instrumentation useful load.Transport condition, turn condition, traveling-position, the such machine performance of road slope that travels based on above such carrying implement 2, judge instrumentation opportunity of the useful load while travelling, thus useful load when instrumentation travels accurately.It should be noted that, when calculating and determining that useful load when travelling has been carried out the result of instrumentation by step S22, preferably utilize following method to carry out.Load System 1 in step S20, detecting after carrying implement 2 starts to travel, as long as under steam, the sampling period instrumentation useful load to stipulate just.For example, utilize the useful load of arithmetic unit 60 calculate the 60b of mechanism to regulation under steam during the instrumentation value of (between the distance regions of regulation or official hour) useful load of obtaining carry out statistical disposition.That is, the frequency of obtaining the instrumentation value of the useful load that while travelling, instrumentation arrives distributes (block diagram), determines median (intermediate value) that this frequency the distributes useful load (step S22) when travelling.If carry out such statistical disposition, though in motion instrumentation to useful load obtain the inaccurate instrumentation value that the transport condition by pavement state or carrying implement 2 causes, the useful load in the time of also can utilizing the method for statistics to determine to travel is also guaranteed instrumentation precision.Can be to pack machine 4 into from carrying implement 2, to receive the instrumentation value of the useful load of instrumentation while travelling, and the decision of the useful load when packing the arithmetic unit 80 of machine 4 into and carry out based on the travelling of this statistical disposition.
After the useful load of Load System 1 when having calculated and having determined to travel by step S22, as step S24, calculate residual quantity value.That is useful load when, Load System 1 is calculated the loading determining by step S18 with by step S22, determine travel time the residual quantity of useful load as residual quantity value.For example, residual quantity value is Δ D, and useful load during loading is D 0, the useful load while travelling is D 1time, Δ D=D 0-D 1.
Load System 1, after having calculated residual quantity value by step S24, will be calculated result store in storage device as step S26, finish this processing.At this, the useful load when Load System 1 of present embodiment is stored respectively the loading of calculating by step S18, by step S22, determine travel time useful load, the residual quantity value of calculating by step S24.Load System 1 both can, by calculating result store in storage device 62 and storage device 82 these both sides, also can only be stored in either party.
Load System 1 is by the processing of execution graph 9, and the residual quantity value of useful load can calculate useful load while loading and travel time.
Then, use Figure 10, illustrate that in utilization, packing machine 4 into packs the processing of carrying out during the processing of tote into carrying implement 2, particularly, illustrate useful load is presented to the processing in display unit 28,52.It should be noted that, Load System 1 can be implemented concurrently with the processing of Fig. 9 the processing of Figure 10.The result of calculating of the processing of the Fig. 9 carrying out before the processing of Fig. 9 that the processing of Figure 10 is used at parallel practice is carried out.
Load System 1, as step S30, detects and packs machine 4 into the beginning packing into of carrying implement 2.Load System 1, after the beginning packing into of tote being detected by step S30, as step S32, determines modification rule.The various measurement results that comprise residual quantity value and the decision condition of Load System 1 based on being stored in storage device 62 or 82, to pack into machine 4 pack into instrumentation between operational period (detecting by pressure sensor 20) to useful load revise.At this, as modification rule, can use from pack into instrumentation between operational period to useful load deduct the rule of residual quantity value.That is, pack into instrumentation between operational period to useful load be D m, residual quantity value is Δ D, revised useful load is D rtime, can use D r=D mthe rule of-Δ D.
In addition, as modification rule, also can use and to calculate the translation difference value that the symbol of residual quantity value has been carried out to conversion, by pack into instrumentation between operational period to useful load add the rule of translation difference value.In this case, at translation difference value, be Δ D ' in the situation that, when Δ D >=0, Δ D '=-| Δ D|, when Δ D < 0, Δ D '=| Δ D|.And, pack into instrumentation between operational period to useful load be D m, revised useful load is D rtime, become D r=D m+ Δ D '.And Load System 1 also can be made as Δ D=D by residual quantity value Δ D 1/ D 0, and as D r=D m* Δ D calculates modification rule.
Load System 1 is after having calculated modification rule by step S32, as step S34, calculate useful load, as step S36, based on modification rule, the useful load of calculating is revised, as step S38, revised useful load is presented in display unit.Load System 1, after will being presented in display unit 28,52 by the revised useful load of step S38, judges as step S40 whether pack operation into finishes.Load System 1 packs operation into and does not finish (no) being judged to be by step S40,, when packing operation into and continuing, returns to step S34 that is, repeats above-mentioned processing.Load System 1, being judged to be by step S40 while packing end of job (YES) into, finishes this processing (useful load is presented to the processing in display unit 28,52).
As shown in Figure 9, Load System 1 is loading under the state of identical tote, useful load when instrumentation packs into and the useful load while travelling, and based on instrumentation to result calculate residual quantity value.Then, as shown in figure 10, the condition of Load System 1 based on comprising the residual quantity value of calculating by Fig. 9 decides modification rule, uses the modification rule determining, when packing operation into instrumentation to useful load revise, and revised useful load is presented in display unit 28,52.
At this, while packing operation into instrumentation to useful load owing to being the instrumentation carrying out under the static state of the suspension working cylinder 16 of carrying implement 2, so the impact of the friction of rest resistance of suspension working cylinder 16 is large, the error of the instrumentation value of pressure sensor 20 increases.With respect to this, while travelling instrumentation to useful load owing to carrying out instrumentation under the state in suspension working cylinder 16 change, so pressure sensor 20 can detect more high-precision instrumentation value.Load System 1 utilizes this phenomenon, the residual quantity value of the useful load of the useful load when packing into when travelling, when packing operation into instrumentation to useful load revise, the useful load in the time of can packing operation into higher precision instrumentation thus.That is, based on instrumentation under being mounted with the state of identical tote to pack into time the residual quantity value of the useful load of useful load when travelling, when packing operation into instrumentation to useful load revise, the error producing in the time of can revising thus instrumentation under static state.Result is that Load System 1 can utilize feedback processing to revise the characteristic separately of carrying implement 2, can calculate useful load more accurately.
Pack the operator of machine 4 into when packing operation into, limit visuognosis is presented at carrying implement 2 or packs the revised useful load in the display unit 28 or 52 that machine 4 possesses into, limit operation task machine 44, thus can adjust useful load.That is, pack the prompting that the operator of machine 4 or the operator of carrying implement 2 accept high-precision useful load into, can carry out useful load management more accurately.Thus, the operator who packs machine 4 into can suppress the generation of underload (too small loading), overload (cross and load), the tote close to burden rating (suitably useful load) can be loaded into carrying implement 2.Like this, Load System 1 passes through the useful load close to specified to load to carrying implement 2, and can improve productivity, thus the damage of carrying implement 2 that can suppress to be caused by overload or the generation of accident.
The distortion > of < embodiment
It should be noted that, the present invention is not defined as aforesaid embodiment, can realize distortion in the scope of object of the present invention, improvement etc. and be contained in the present invention yet.For example, in the above-described embodiment, at carrying implement 2, display unit 28 is set, and is provided with display unit 52 packing machine 4 into, as long as but there is at least one party in display unit 28 and display unit 52, and can be only a side.It should be noted that, Load System 1 can show revised useful load in display unit 28 and display unit 52 these both sides.
As long as Load System 1 exists at least one party of residual quantity value arithmetical organ 60c, 80a, can be only a side.Load System 1 can carry out identical calculating by residual quantity value arithmetical organ 60c, these both sides of 80a.Similarly, as long as Load System 1 exists at least one party of useful load correction mechanism 60d, 80b, can be only a side.Load System 1 can carry out identical calculating by useful load correction mechanism 60d, these both sides of 80b.
Load System 1, when possessing residual quantity value arithmetical organ 80a, preferably possesses useful load correction mechanism 80b.Thus, the result that residual quantity value arithmetical organ 80a need not be calculated sends again to arithmetic unit 60, and can process by arithmetic unit 80.And Load System 1, when possessing useful load correction mechanism 60d, preferably possesses residual quantity value arithmetical organ 60c.Thus, the residual quantity value that arithmetic unit 80 need not be calculated sends to arithmetic unit 60, and the residual quantity value that can calculate based on arithmetic unit 60 is carried out correcting process.
Load System 1 is preferably calculated residual quantity value by residual quantity value arithmetical organ 60c.Thus, by carrying implement 2 instrumentations after useful load, can calculate immediately residual quantity value.And, ensuing, pack into before operation, can finish more reliably the processing of calculating of residual quantity value.
Load System 1 can, via communication equipment 26,50, to packing machine 4 outputs into, show revised useful load by the information of the revised useful load of being calculated by useful load correction mechanism 60d in display unit 52.And, Load System 1 can be stored in storage device 82 by the data of the residual quantity value of being calculated by residual quantity value arithmetical organ 60c, and utilize useful load correction mechanism 80b to when packing operation into by carrying implement 2 instrumentations to useful load revise, in display unit 52, show revised useful load.
Load System 1 can be presented at the revised useful load of being calculated by useful load correction mechanism 60d in display unit 28.In this case, even if Load System 1 is packing each portion that each storage device 82 of arithmetic unit 80 is not set on machine 4 into, also can be by revised useful load to the operator's notice that packs machine 4 into.
Load System 1, when utilizing residual quantity value arithmetical organ 80a to calculate residual quantity value, as long as there is at least one party of useful load instrumentation Value Data 66a, 82c while travelling, can be only a side.Similarly, Load System 1, as long as there is at least one party of useful load instrumentation Value Data 66b, 82d while loading, can be only a side.
Load System 1 is preferably based on by the residual quantity value after residual quantity value organisation of working 80d processing and decides modification rule.Load System 1 decides modification rule by the residual quantity value based on after processing, and can revise useful load with higher precision.Load System 1 also can arrange the mechanism suitable with residual quantity value organisation of working 80d with the useful load decision mechanism 80c of arithmetic unit 80 at arithmetic unit 60.
Load System 1 both can just carry out calculate (the step S24) of the residual quantity value shown in Fig. 9 when packing machine 4 into and pack operation into, also can when certain number of times, carry out calculate (the step S24) of the residual quantity value shown in Fig. 9.And Load System 1 also can be calculated the residual quantity value in operation that packs into of certain number of times, when the variable quantity that can be judged as residual quantity value converges to certain scope, reduce the frequency of calculating of residual quantity value.
Figure 11 means the flow chart of an example of the control action of Load System.Processing shown in Figure 11 is that the processing of the step S32 of Figure 10 is an example of the decision processing of modification rule.Load System 1 is obtained positional information as step S50.Positional information can obtain by the location carrying out based on GPS information obtaining section 56,76.Load System 1 after having obtained positional information by step S50, as step S52, the positional information based on obtaining and obtain and pack field information into.At this, pack the information (region of positional information) that field information means the region that packs field into into.That is,, if mine for example, the coal face of region representation coal or the quarry of the iron ore kind (soil property) such and article as tote that packs into is corresponding packs place into.Pack machine 4 into does not carry out large movement and implements to pack into operation in during to a certain degree within packing place into.Therefore, both the positional information in region that represents the prescribed limit in the place known as packing field into can be made as and pack field information into, pre-stored in storage device 62,82, also can utilize the GPS information obtaining section 76 that packs machine 4 into termly the positional information of self to be carried out to location, the region of the prescribed limit that comprises positional information obtaining is made as and packs field information into, be stored in storage device 62,82.
Load System 1, after having obtained by step S52 and packing field information into, as step S54, is obtained the residual quantity Value Data corresponding with packing field information into.Load System 1, having set up on corresponding basis with residual quantity Value Data packing field information into, will pack field information and residual quantity Value Data into and be stored in storage device 62,82.Load System 1, when having obtained residual quantity value, is set up correspondingly by the field information that packs into that the computing to this residual quantity value is relevant, carries out in advance the classification of residual quantity value for a plurality of packing into.If for example carrying implement 2 has carried out packing into operation in a plurality of packing into, obtain and respectively pack a corresponding residual quantity value into, and pre-storedly packing residual quantity value corresponding to field (packing field information into) into these.And Load System 1 arrives certain at carrying implement 2 and packs into and while starting to pack operation into, the positional information of the current location of this carrying implement 2 carried out to location, reads in the field information that packs into that represents the place approaching with the positional information obtaining from storage device 62,82.Corresponding with the foundation of residual quantity Value Data owing to packing field information into, therefore in packing in field information of reading in, read out in this simultaneously and pack the residual quantity Value Data that should use in field into.Load System 1, after having obtained residual quantity Value Data by step S54, determines modification rule as step S56, finishes this processing (decision of modification rule is processed).
That is, as shown in figure 11, Load System 1 is obtained positional information, and obtains and pack a corresponding residual quantity Value Data into, can use thus the modification rule corresponding with the soil property situation that packs field into.Therefore, can further improve by packing machine 4 into the instrumentation precision of the useful load of the tote of carrying implement 2 loadings, the operator who packs machine 4 into can realize useful load management more accurately.And Load System 1 detects and packs the positional information of field into and use this positional information, can accumulate to subsystem thus the residual quantity value that respectively packs field into.Thus, obtain the residual quantity value associated with the soil property situation that packs field into, therefore can determine the modification rule mutually suitable with the soil property that packs field into, thereby can improve the instrumentation precision of useful load.
Figure 12 means the flow chart of an example of the control action of Load System 1.Processing shown in Figure 12 is the processing of the step S22 of Fig. 9, an example of calculating processing of the useful load while travelling, and represents the situation of judgement on instrumentation opportunity of useful load when using useful load instrumentation to put such judgement key element carries out aforesaid travelling.It should be noted that, the processing shown in Figure 12 is preferably carried out by arithmetic unit 60.Load System 1 is obtained positional information as step S60.Positional information can be processed to obtain by the location of GPS information obtaining section 56.
Load System 1, after having obtained positional information by step S60, as step S62, takes a decision as to whether useful load instrumentation point.At this, the measurement region of useful load when useful load instrumentation point is predefined travelling.Load System 1 is being judged to be by step S62 while not being instrumentation point (no), return to step S60, Load System 1 is being judged to be by step S62 while being useful load instrumentation point (YES), as step S64, calculate useful load, the useful load of calculating is made as to the useful load while travelling, finishes this processing.It should be noted that, Load System 1 can be judged to be while being useful load instrumentation point, determines whether under steam and only calculate under steam time useful load, and using the useful load of calculating the useful load when travelling.
As shown in figure 12, Load System 1 location is also obtained positional information, in the region of regulation while travelling, and useful load when instrumentation travels, the instrumentation of useful load that thus can be when travelling carries out benchmark, can carry out instrumentation with higher precision.And, owing to take predefined useful load instrumentation point, be that the high running region of instrumentation precision of useful load is prerequisite while travelling, therefore instrumentation useful load accurately.
Can be that Load System 1 is obtained continuously with constant operating range interval and accumulates useful load and positional information, using the described information obtaining as post processing, and carry out the processing same with Figure 12.In this case, by arithmetic unit 80, also can carry out same processing.
Figure 13 means the flow chart of an example of the control action of Load System 1.Processing shown in Figure 13 is that the processing of the step S32 of Figure 10 is an example of the decision processing of modification rule.At this, the processing shown in Figure 13 is carried out by arithmetic unit 80.Load System 1 is obtained the identifying information (for example ID) of carrying implement 2 as step S70.The identifying information of carrying implement 2 is stored in the storage device 62 of each carrying implement 2.That is, arithmetic unit 80 is determined the carrying implement of the object that loads tote, and obtains the identifying information of this carrying implement.Arithmetic unit 80 communicates with the carrying implement 2 of object via communication equipment 50, and obtains ID of carrying implement 2 etc., can carry out thus the individual identification of carrying implement 2.
Load System 1, after having obtained the identifying information of carrying implement 2 by step S70, as step S72, is extracted the residual quantity Value Data corresponding with the carrying implement 2 of obtaining out.Load System 1, for each carrying implement 2 packing the site work of operation into, is stored in storage device 62,82 by residual quantity Value Data (residual quantity Value Data 82a, cumulative error magnitude data 82b recently).According to the identifying information of the carrying implement 2 of obtaining at this, obtain by travelling and the residual quantity Value Data that obtains in the past after the packing into and pack into of this carrying implement 2.Load System 1, after having obtained residual quantity Value Data by step S72, determines modification rule as step S74, finishes this processing (decision of modification rule is processed).
As shown in figure 13, Load System 1 is obtained the identifying information of carrying implement 2, according to the residual quantity Value Data of each carrying implement 2, decides modification rule, can determine thus the modification rule corresponding with the characteristic of each carrying implement 2.Thus, can further improve the instrumentation precision of useful load.
Figure 14 means the flow chart of an example of the control action of Load System 1.Processing shown in Figure 14 is in the processing of the step S38 of Figure 10, represents to revise the example of flow process of the disposal of rear useful load evaluation when revised useful load is presented in display unit 52.Load System 1 can show revised useful load with numerical value, but also can show control to above-mentioned display unit 28a or warning display part 96, by the display mode shown in Fig. 6, show that useful load was to load or too small loading or suitable such evaluation result.And, also can in the driver's cabin that packs machine 4 into, voice output be set, from useful load decision mechanism 80c, the output signal that represents the evaluation result of useful load is sent to voice output, convert voice output signal to voice signal, as sound, to operator, notify.
Load System 1 as step S80, judge revised useful load whether as loading.Whether be that the judgement of loading can be differentiated to carry out by the size of aforesaid suitable useful load data 66d, 82f and revised useful load.Load System 1, when being judged to be loading (YES) by step S80, as step S82, was shown as the declaration of will of loading in display unit 28, finished this processing (evaluation of revised useful load is disposed).Load System 1, being judged to be by step S80 while not being loading (no), enters step S84, judges whether revised useful load is too small loading.Load System 1, when being judged to be too small loading (YES) by step S84, as step S86, is shown as the declaration of will of too small loading in display unit 28, finishes this processing (evaluation of revised useful load is disposed).Load System 1, being judged to be by step S84 while not being too small loading (no), enters step S88, shows the declaration of will that useful load is suitable in display unit 28, finishes this processing (evaluation of revised useful load is disposed).That is, useful load decision mechanism 80c judgement was to load or too small loading, if cross, load, by the output signal that represented to load to display unit 52 outputs, if too small loading is exported the output signal of the too small loading of expression to display unit 52.On the other hand, if useful load decision mechanism 80c is judged as revised useful load, cross to load neither too small loading but revised useful load enter in the margin of tolerance of suitable useful load, will represent that revised useful load enters output signal in the margin of tolerance of suitable useful load to display unit 52 outputs.On the alarm display part 96 of the display part 94 of display unit 28, by message or mark etc., be shown as the declaration of will of loading.
As shown in figure 14, Load System 1 is for revised useful load, show that useful load was loading or too small loading or suitable, thus, can suppress the generation of underload (too small loading), the overload (cross and load) of tote, the useful load close to specified (suitably useful load) can be loaded to carrying implement 2.
In addition, the carrying implement 2 of above-mentioned embodiment is presented at useful load in display unit 28, or uses communication equipment 26 that useful load is sent to the communication equipment 50 that packs machine 4 sides into, but is not defined in this.Carrying implement 2 can be exported the useful load of calculating with various output mechanisms.And output destination when carrying implement 2 uses communication to export is not defined as and packs machine into, it can be also other communication equipment, the management devices that for example Load System 1 managed.
[symbol description]
1 Load System
2 carrying implements
4 pack machine into
11 vehicle bodies
12 dump bodies
14 wheels
16 suspension working cylinders
18 turn-sensitive devices
20 suspension pressure sensors
22 clinometers
24,48GPS antenna
26,50 communication equipments
26a, 50a communication antenna
28,52 display unit
30 carrying implement sidecar carrier aircrafts (controller)
41 crawler belts
42 top revolutions
44 working rigs
44a dipper
44b swing arm
44c scraper bowl
54 pack pusher side vehicle-mounted machine (controller) into
56,76GPS information obtaining section
58,78 data transmission and reception units
60,80 arithmetic units
60a pressure sensor value amounts to mechanism
60b useful load is calculated mechanism
60c, 80a residual quantity value arithmetical organ
60d, 80b useful load correction mechanism
62,82 storage devices
66 useful load information tables
Useful load instrumentation Value Data when 66a, 82c travel
Useful load instrumentation Value Data when 66b, 82d load
The suitable useful load data of 66d, 82f
66c residual quantity Value Data
68,82e instrumentation position data
80c useful load decision mechanism
80d residual quantity value organisation of working
The nearest residual quantity Value Data of 82a
82b cumulative error magnitude data
90 display control units
92 display parts
94 useful load display parts
96 alarm display parts
99 load distribution signal lamp

Claims (16)

1. a Load System, possesses carrying implement and packs machine into, it is characterized in that having:
Useful load instrumentation mechanism, it is located at described carrying implement, to packing the useful load of the tote of described carrying implement into, carries out instrumentation;
Residual quantity arithmetical organ, its to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load and instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to the residual quantity of useful load carry out computing;
Storage device, the residual quantity Value Data that its storage is calculated by described residual quantity arithmetical organ;
Correction mechanism, it is based on according to being stored in the modification rule that the residual quantity Value Data in described storage device is calculated, to when the loading of tote by described useful load instrumentation mechanism instrumentation to useful load revise;
Indication mechanism, it shows by the revised correction useful load of described correction mechanism.
2. Load System according to claim 1, is characterized in that,
A plurality of residual quantity Value Datas based on being stored in described storage device, process residual quantity value, determine modification rule,
Based on described modification rule, to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load revise.
3. Load System according to claim 1 and 2, is characterized in that,
Have:
Carrying pusher side Department of Communication Force, it is located at described carrying implement;
Pack pusher side Department of Communication Force into, it packs machine into described in being located at, and communicates with described carrying pusher side Department of Communication Force,
Described in being arranged on, described indication mechanism packs in the driver's cabin of machine.
4. Load System according to claim 3, is characterized in that,
Described correction mechanism packs machine into described in being located at,
Described carrying pusher side Department of Communication Force by when the loading of described tote by described useful load instrumentation mechanism instrumentation to the information of useful load to the described pusher side Department of Communication Force that packs into, send,
The described pusher side Department of Communication Force that packs into is exported the information of described useful load to described correction mechanism.
5. Load System according to claim 4, is characterized in that,
Described residual quantity arithmetical organ and described storage device pack machine into described in being located at,
Described carrying pusher side Department of Communication Force by when the loading of described tote by described useful load instrumentation mechanism instrumentation to the information of useful load and the instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to useful load to the described pusher side Department of Communication Force that packs into, send.
6. Load System according to claim 1 and 2, is characterized in that,
Described residual quantity arithmetical organ, described storage device and described correction mechanism are located at described carrying implement,
Described indication mechanism be arranged on the outside of described carrying implement and described in pack the either party in the driver's cabin of machine into.
7. Load System according to claim 1 and 2, is characterized in that,
Also there is the pressure sensor that the load to acting on the suspension working cylinder of described carrying implement detects,
The testing result of described useful load instrumentation mechanism based on described pressure sensor carried out the useful load of the tote that instrumentation packs into described carrying implement.
8. Load System according to claim 1 and 2, is characterized in that,
Described carrying implement or described in pack machine at least one party there is position detecting mechanism,
Described residual quantity arithmetical organ carries out each region of the positional information of instrumentation according to the useful load when loading, described residual quantity value classified,
The sorted described residual quantity value of described memory device stores,
Described correction mechanism, according to each region of the useful load of described tote being carried out to the positional information of instrumentation, determines modification rule,
When the loading of described tote, from described storage device, read and the corresponding residual quantity value of the loading area detecting by described position detecting mechanism, to when the loading of described tote by described useful load instrumentation mechanism instrumentation to useful load revise.
9. Load System according to claim 8, is characterized in that,
Described position detecting mechanism is located at described carrying implement,
Described useful load instrumentation mechanism when the positional information being detected by described position detecting mechanism is predetermined location, the instrumentation of the useful load while travelling described in carrying out.
10. Load System according to claim 1 and 2, is characterized in that,
Described useful load instrumentation mechanism judges instrumentation opportunity according to the machine performance of described carrying implement, and the useful load when travelling is carried out instrumentation.
11. Load Systems according to claim 1 and 2, is characterized in that,
Described indication mechanism shows the corresponding evaluation result of evaluation of carrying out with useful load decision mechanism, and this useful load decision mechanism carries out the evaluation by the revised useful load of described correction mechanism.
12. 1 kinds of carrying implements, load tote, it is characterized in that having:
Useful load instrumentation mechanism, the useful load of the tote that its instrumentation packs into;
Residual quantity arithmetical organ, its to by described useful load instrumentation mechanism instrumentation to useful load and instrumentation when described the loading after and while travelling by described useful load instrumentation mechanism instrumentation to the residual quantity of useful load carry out computing;
Storage device, the residual quantity Value Data that its storage is calculated by described residual quantity arithmetical organ;
Correction mechanism, it is based on according to being stored in the modification rule that the residual quantity Value Data in described storage device is calculated, to when the loading of tote by described useful load instrumentation mechanism instrumentation to useful load revise.
13. carrying implements according to claim 12, is characterized in that,
Have output mechanism, this output mechanism output is by the revised correction useful load of described correction mechanism.
14. carrying implements according to claim 13, is characterized in that,
Described output mechanism is the indication mechanism that shows described correction useful load.
15. carrying implements according to claim 13, is characterized in that,
Described output mechanism is the Department of Communication Force to outside output by described correction useful load.
16. carrying implements according to claim 15, is characterized in that,
Described Department of Communication Force is exported described correction useful load to the machine that packs into that tote is loaded.
CN201280002951.1A 2011-11-04 2012-09-14 Loading system and conveyor Active CN103249896B (en)

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US9221659B2 (en) 2015-12-29
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CA2807828C (en) 2014-09-02
US20140231153A1 (en) 2014-08-21

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